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isaac_ros2_utils repositoryros2 sensor-simulation isaac-sim ros2-control ros-humble isaac_ros2_scripts |
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Repository Summary
| Description | This ROS 2 package provides various utilities (operation with ros2_control, automatic sensor generation and sensor data publishing) for easy use of Isaac Sim. |
| Checkout URI | https://github.com/hijimasa/isaac_ros2_utils.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-27 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | ros2 sensor-simulation isaac-sim ros2-control ros-humble |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| isaac_ros2_scripts | 0.0.0 |
README
ROS 2 utilities for Isaac Sim
This repository provides utilities to use Isaac Sim like Gazebo classic.
Features
- This spawns URDF model at the desired timing and position.
- This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller.
- This supports rotational and prismatic joints using position and velocity control.
- This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim.
- This launches sensors from URDF description.
- This launchs sensors and controller at the desired timing.
- This sets stiffness, damping and friction from URDF description.
System Requirements
| Element | Minimum Spec |
|---|---|
| OS | Ubuntu 22.04 |
| CPU | Intel Core i7 (7th Generation) AMD Ryzen 5 |
| Cores | 4 |
| RAM | 32GB |
| Storage | 50GB SSD |
| GPU | GeForce RTX 2070 |
| VRAM | 8GB |
| ROS 2 | Humble |
How to Use
Please check this document.
CONTRIBUTING
No CONTRIBUTING.md found.
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